The paper presents a theory of vibratory locomotion, a prototype, and the results of experiments on mini robot, which moves as a result of inertial excitation provided by two electric motors. The robot is equipped with elastic bristles which are in contact with the supporting surface. Vibration of the robot generates the friction force which can push the robot forward or backward. The paper presents a novel model of interaction between the bristles and the supporting surface. The friction force (its magnitude and sense) is defined as a function of the robot velocity and the robot's vibrations. The analysis is done for a constant coefficient of friction and a smooth surface. Depending on the motors' speed, one may obtain a rectilinear or a curvilinear motion, without jumping or losing contact with the substrate. The results of the simulation show which way the robot moves, its mean velocity of locomotion, change of the slipping velocity of the bristles and its influence on the normal and the friction force. A prototype was built and experiments were performed with it.
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December 2017
Research-Article
Locomotion of a Mini Bristle Robot With Inertial Excitation
Tadeusz Majewski,
Tadeusz Majewski
Department of Industrial &
Mechanical Engineering,
Universidad de las Américas-Puebla,
Ex. Hacienda Sta. Catarina Martir,
Cholula 72810, Puebla, Mexico
e-mail: tadeusz.majewski@udlap.mx
Mechanical Engineering,
Universidad de las Américas-Puebla,
Ex. Hacienda Sta. Catarina Martir,
Cholula 72810, Puebla, Mexico
e-mail: tadeusz.majewski@udlap.mx
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Dariusz Szwedowicz,
Dariusz Szwedowicz
Centro Nacional de Investigacion y
Desarrollo Tecnologico,
Cuernavaca 82490, Morelos, Mexico
e-mail: d.sz@cenidet.edu.mx
Desarrollo Tecnologico,
Cuernavaca 82490, Morelos, Mexico
e-mail: d.sz@cenidet.edu.mx
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Maciej Majewski
Maciej Majewski
Search for other works by this author on:
Tadeusz Majewski
Department of Industrial &
Mechanical Engineering,
Universidad de las Américas-Puebla,
Ex. Hacienda Sta. Catarina Martir,
Cholula 72810, Puebla, Mexico
e-mail: tadeusz.majewski@udlap.mx
Mechanical Engineering,
Universidad de las Américas-Puebla,
Ex. Hacienda Sta. Catarina Martir,
Cholula 72810, Puebla, Mexico
e-mail: tadeusz.majewski@udlap.mx
Dariusz Szwedowicz
Centro Nacional de Investigacion y
Desarrollo Tecnologico,
Cuernavaca 82490, Morelos, Mexico
e-mail: d.sz@cenidet.edu.mx
Desarrollo Tecnologico,
Cuernavaca 82490, Morelos, Mexico
e-mail: d.sz@cenidet.edu.mx
Maciej Majewski
Manuscript received November 2, 2016; final manuscript received August 8, 2017; published online September 26, 2017. Assoc. Editor: K. H. Low.
J. Mechanisms Robotics. Dec 2017, 9(6): 061008 (11 pages)
Published Online: September 26, 2017
Article history
Received:
November 2, 2016
Revised:
August 8, 2017
Citation
Majewski, T., Szwedowicz, D., and Majewski, M. (September 26, 2017). "Locomotion of a Mini Bristle Robot With Inertial Excitation." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061008. https://doi.org/10.1115/1.4037892
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